{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp,vx,vy,vz) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_0.csv\",\"rb\"),skiprows=9000,delimiter=\",\",usecols=(0, 10, 11, 12),unpack=True)\n",
    "(local_sp_timestamp, vx_sp, vy_sp, vz_sp) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_setpoint_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,6,7,8),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time=(time_stamp-time_stamp[10482-9000])/1000000\n",
    "ref_sp_time=(local_sp_timestamp-local_sp_timestamp[41])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "a=12100\n",
    "a_=10482-9000\n",
    "b=1400\n",
    "b_=41"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vx-vx_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[a_:a-9000], vx[a_:a-9000],label='vx', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[b_:b], vx_sp[b_:b],label='vx_sp', c='blue')\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_vx.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vy-vy_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[a_:a-9000], vy[a_:a-9000],label='vy', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[b_:b], vy_sp[b_:b],label='vy_sp', c='blue')\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_vy.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vz-vz_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[a_:a-9000], vz[a_:a-9000],label='vz', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[b_:b], vz_sp[b_:b],label='vz_sp', c='blue')\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_vz.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [],
   "source": [
    "c=13240-9000\n",
    "d=2539"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vx-vx_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[c:15500-9000], vx[c:15500-9000],label='vx', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[d:], vx_sp[d:],label='vx_sp', c='blue')\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_vx.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vy-vy_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[c:15500-9000], vy[c:15500-9000],label='vy', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[d:], vy_sp[d:],label='vy_sp', c='blue')\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_vy.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"vz-vz_sp\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"v (m/s)\")\n",
    "figure1 = ax.plot(ref_time[c:15500-9000], vz[c:15500-9000],label='vz', c='black')\n",
    "figure1 = ax.plot(ref_sp_time[d:], vz_sp[d:],label='vz_sp', c='blue')\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/landing_vz.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
